Trajkovic

[nizar-sallem]

I add two new keypoints based on Trajkovic and Hedley operator.
First one is the original algorithm meant for comparison purposes.
Second one is part of my PhD dissertation and uses geometric criteria to find corners.
Both work on organized clouds only (for now).

[rbrusu]

Great contribution, thanks Nizar! I'd like to keep this open and not merge it until we get a tutorial and an unit test.

[nizar-sallem]

@rbrusu, sure will do that ASAP.

[nizar-sallem]

@rbrusu I added the application

[jspricke]

Hi Nizar,

could you add some unit tests? Otherwise I'm fine with merging.

[nizar-sallem]

Not right now since unit tests would require synthesizing a box or similar object where keypoints have known locations, unfortunately no time to do so.

[jspricke]

I would be fine with merging this without the unit test, as I think it's better to have it in master what do you think @rbrusu, @nizar-sallem? Also, could you fix the merge conflict? Thanks!

[nizar-sallem]

@jspricke I will be glad if we can add them even without unit test (AFAIK not alla detectors have unit tests anyway).

[ThorstenHarter]

@jspricke Hi Jochen, I was wondering why the Trajkovic files have never been added to the CMakeLists.txt of the keypoints module:
https://github.com/PointCloudLibrary/pcl/blob/master/keypoints/CMakeLists.txt

I've added them locally to my PCL 1.8.1 build and fixed a minor issue with the VS compilation of trajkovic_3d.hpp (index variable in OpenMP 'for' statement must have signed integral type).

Should I create a pull request?

[jspricke]

Oups, great find :). Can you please send a pull request? Thanks!

[ThorstenHarter]

I have created the PR #2179.
The builds are all fine, but the extended tests timed out after 1h 9m, it seems this happens for all PRs...